MITSUBISHI ELECTRIC MR-J2S- A - Manual (Page 365)

15 - 44
15. ABSOLUTE POSITION DETECTION SYSTEM
Y1 X2
M3 PLS
M3
Y2 X2
C2
C2
C0
M64
3 3
D3 K2M52 MOV
Y2 SET
K1M10 H0003 K1X0 WANDP
K2 K38 M20 M10 SFTR
D2 D2 K1M10 ADDP
K16
C0
K19
Y2 RST
Y1 RST
D2 D2 H003F WANDP
M62 D2 K2M52 CMPP
C1
M62 C1
Y12
M2 PLS
T211
K2
M6 SET
M4 PLS
ABS data 32 bits
(2 bits 16 times)
Checksum 6 bits
(2 bits 3 times)
Detection of ABS
checksum error,
retry control
Resetting ABS data
ABS request ON
Masking ABS data 2 bits
Right shift (2 bits) of ABS data
Checksum addition
Updating ABS data reception
counter
Updating all data reception
counter
Resetting ABS request
Resetting ABS transfer mode
Masking checksum 6 bits
Comparison of checksum
ABS data checksum error
Retry command
Storing checksum value in the
case of checksum error
Retry flag ON
ABS
transfer
mode Send data ready
ABS data read
ABS
request Send data
ready
Retry counter
Retry
counter
(Continued from preceding page)
4 4 (To be continued)
T204
T204
K1
ABS data waiting timer 10ms
C0
All data
receptin
counter
ABS data waiting timer
ABS data
reception
counter
X2
Send data
ready
Setting retry ABS transfer
mode OFF wait timer: 20ms
Servo-on request reset
permission
M5 RST Servo-on request
Setting retry wait timer: 100ms T211
K10
T211
M4
M5 M6
Setting retry ABS transfer mode
OFF wait timer: 20ms
Servo-on request reset permission
Servo-on
request
Retry flag